/*
* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
* Method: setEncoderSamplesToAverage
* Signature: (Ljava/nio/ByteBuffer;ILjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderSamplesToAverage
(JNIEnv * env, jclass, jobject id, jint value, jobject status)
{
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI setEncoderSamplesToAverage";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
ENCODERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
setEncoderSamplesToAverage(*javaId, value, statusPtr);
ENCODERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
* Method: setEncoderSamplesToAverage
* Signature: (JI)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderSamplesToAverage
(JNIEnv * env, jclass, jlong id, jint value)
{
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI setEncoderSamplesToAverage";
ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << (void*)id;
int32_t status = 0;
setEncoderSamplesToAverage((void*)id, value, &status);
ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
if (status == PARAMETER_OUT_OF_RANGE) {
ThrowBoundaryException(env, value, 1, 127);
return;
}
CheckStatus(env, status);
}
/**
* Set the Samples to Average which specifies the number of samples of the timer
* to average when calculating the period.
*
* Perform averaging to account for mechanical imperfections or as oversampling
* to increase resolution.
*
* @param samplesToAverage The number of samples to average from 1 to 127.
*/
void Encoder::SetSamplesToAverage(int samplesToAverage) {
if (samplesToAverage < 1 || samplesToAverage > 127) {
wpi_setWPIErrorWithContext(
ParameterOutOfRange,
"Average counter values must be between 1 and 127");
}
int32_t status = 0;
switch (m_encodingType) {
case k4X:
setEncoderSamplesToAverage(m_encoder, samplesToAverage, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
break;
case k1X:
case k2X:
m_counter->SetSamplesToAverage(samplesToAverage);
break;
}
}
